geometric_map_xyza Class Reference

Hash-functions for 4-dof recognition. More...

#include <geometric_map_xyza.hh>

Inheritance diagram for geometric_map_xyza:

[legend]Collaboration diagram for geometric_map_xyza:

[legend]List of all members.

Public Member Functions
	geometric_map_xyza (mimas::mm_xml_reference< XalanElement > &configuration, bool _verbose)
	Constructor.
virtual std::vector< mi_pose >	candidates (const std::vector< boost::numeric::ublas::vector< int > > &features) const
	Generate exhaustive set of hash-maps.
virtual bool	random_poses (const std::vector< boost::numeric::ublas::vector< int > > &features, mi_pose &pose) const
	Select a random set of hash-maps.
Protected Member Functions
mi_pose	point_pair_to_pose (const boost::numeric::ublas::vector< int > &p1, const boost::numeric::ublas::vector< int > &p2) const
	Convert a tupple of feature-points to a hash-map.
Protected Attributes
double	min_dist
	Minimum distance of two points of a point-pair.
double	max_dist
	Maximum distance of two points of a point-pair.
bool	verbose
Static Protected Attributes
static rand_function< int >	rnd
	Random number generator for selecting point-pairs.

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Detailed Description

Hash-functions for 4-dof recognition.

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Constructor & Destructor Documentation

geometric_map_xyza::geometric_map_xyza (  mimas::mm_xml_reference< XalanElement > &  configuration, bool  _verbose )

Constructor. Parameters: configuration  XML configuration block to initialise from.

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Member Function Documentation

virtual std::vector< mi_pose > geometric_map_xyza::candidates (  const std::vector< boost::numeric::ublas::vector< int > > &  features  )  const [virtual]

Generate exhaustive set of hash-maps. Parameters: features  List of features to generate candidates from. Implements geometric_map.

mi_pose geometric_map_xyza::point_pair_to_pose (  const boost::numeric::ublas::vector< int > &  p1, const boost::numeric::ublas::vector< int > &  p2 )  const [protected]

Convert a tupple of feature-points to a hash-map. Parameters: p1  first feature-point. p2  second feature-point.

virtual bool geometric_map_xyza::random_poses (  const std::vector< boost::numeric::ublas::vector< int > > &  features, mi_pose &  pose )  const [virtual]

Select a random set of hash-maps. Parameters: features  List of features to generate random candidates from. Implements geometric_map.

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The documentation for this class was generated from the following file:

• geometric_map_xyza.hh

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